Three-dimensional tracking type cap screwing machine
By independently setting up bottle and cap conveying devices and using photoelectric sensors and controllers to achieve synchronous movement, the three-coordinate tracking capping machine solves the problem of mutual restriction between bottle and cap conveying speeds, thus improving the adaptability and efficiency of the capping machine.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGDONG LAOYIDUO TECH CO LTD
- Filing Date
- 2026-04-02
- Publication Date
- 2026-05-29
AI Technical Summary
In existing capping machines, the conveying speeds of the bottle body and the cap are mutually restrictive and have poor synchronization, resulting in low capping efficiency and insufficient adaptability and accuracy.
The three-coordinate tracking capping machine uses an independent bottle and cap conveying device with reliable clamping components on both sides to bring the bottles closer or further away. Combined with a photoelectric sensor and controller, it achieves precise adjustment and synchronous movement of the bottle and cap, and uses a three-coordinate robot for dynamic tracking and capping.
It improves the adaptability and accuracy of capping, realizes efficient capping of bottles during continuous conveying, solves the problem of mutual restriction between the conveying speed of the bottle and the cap, and improves capping efficiency and stability.
Smart Images
Figure CN122102037A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of capping machine technology, and in particular to a three-coordinate tracking capping machine. Background Technology
[0002] In automated filling production lines, capping machines are key equipment for gripping and twisting bottle caps. They typically consist of a bottle conveying section and a cap conveying section. Most existing capping machines adopt an integrated structure, concentrating the bottle body and cap on the same conveyor line for coordinated transport. This results in the conveying speeds of the bottle body and cap mutually restricting each other and making it difficult to adjust them independently.
[0003] When it's necessary to change the bottle model or cap specification, the entire capping machine needs to be adjusted, which is a complex process with poor adaptability. Furthermore, the synchronization between bottle and cap conveying is difficult to guarantee, easily leading to situations where the bottle is in position before the cap, or vice versa, thus affecting capping efficiency.
[0004] Therefore, it is urgent to research and develop a three-coordinate tracking capping machine to solve the above-mentioned technical defects. Summary of the Invention
[0005] The purpose of this invention is to provide a three-coordinate tracking capping machine, which can solve the problem of mutual restriction and poor synchronization between the conveying speed of the cap and the bottle body in the prior art, and improve the adaptability, accuracy and efficiency of capping.
[0006] To achieve the above objectives, the three-coordinate tracking capping machine provided by this invention has the following specific implementation scheme: Three-coordinate tracking capping machine, including: The bottle conveying device has a first conveying component and a first bottle clamping component and a second bottle clamping component disposed on both sides of the first conveying component. The first bottle clamping component and the second bottle clamping component move closer to each other or further apart along a first direction of the capping machine to clamp the bottle and adjust the spacing between adjacent bottles in the conveying direction of the first conveying component. The bottle cap conveying device, which is independently set up from the bottle body conveying device, has a second conveying component, a capping component, a first cap clamping component, a second cap clamping component, and a detection photoelectric sensor. The capping component is located above the second conveying component to press and limit the bottle cap. The first cap clamping component and the second cap clamping component are located on both sides of the second conveying component and move closer or further apart along the first direction of the capping machine to clamp the bottle cap and adjust the spacing between adjacent bottle caps in the conveying direction of the second conveying component. The detection photoelectric sensor is located in the bottle cap clamping area of the second conveying component to record the position information of the bottle cap and feed it back to the controller of the capping machine. The lifting device has an installation platform that moves along a second direction of the capping machine toward or away from the bottle conveying device and the cap conveying device. A three-coordinate manipulator is mounted on the installation platform of the lifting device. It has a first arm, a second arm, a third arm, and a pneumatic gripper. The first arm is rotatably connected to the installation platform, and its rotation axis is set along the second direction of the capping machine. The second arm is rotatably connected to the first arm, and its rotation axis is set along the second direction of the capping machine. The third arm is slidably connected to the second arm along the second direction of the capping machine. The pneumatic gripper is located at the end of the third arm and is used to grip the bottle cap and screw it onto the bottle. The controller is connected to the bottle conveying device, the bottle cap conveying device, the lifting device, and the three-coordinate robot. The controller controls the three-coordinate robot to grasp the bottle cap based on the bottle cap position information fed back by the photoelectric sensor. At the same time, the controller controls the three-coordinate robot to screw the bottle cap onto the bottle body while moving synchronously with the bottle body based on the bottle position information fed back by the bottle conveying device.
[0007] The three-coordinate tracking capping machine of this invention, compared with the prior art, separates and independently sets up the bottle body conveying device and the bottle cap conveying device, and sets up a first bottle clamping component and a second bottle clamping component on both sides of the bottle body conveying device that can actively move closer or further away, and sets up a first cap clamping component and a second cap clamping component on both sides of the bottle cap conveying device that can actively move closer or further away. This achieves independent and precise adjustment of the distance between the bottle body and the bottle cap, solving the problem of mutual restriction and uncontrollable distance between the bottle body and the bottle cap in the prior art; by pressing and limiting the bottle caps through the capping component, it effectively prevents the bottle caps from stacking or falling during the conveying process, solving the problem of poor stability of the bottle cap conveying; by detecting photoelectric eyes to record the position information of the bottle caps in real time and feeding it back to the controller, it provides the robot arm with a precise grasping position basis. The system utilizes a lifting device to drive a three-coordinate robotic arm, which, in conjunction with a controller, grasps the cap based on the cap position information fed back by the photoelectric sensor. Simultaneously, based on the bottle position information fed back by the bottle conveying device, the robotic arm completes the capping process while moving synchronously with the bottle. This achieves dynamic tracking capping, solving the problems of low efficiency and the need for bottle pausing required for static capping in existing technologies. Capping can be completed during continuous bottle conveying, significantly improving capping efficiency. Furthermore, centralized control by the controller enables coordinated operation of the entire process, from bottle conveying and cap conveying to robotic arm grasping and twisting. This comprehensively solves the technical problems of low distance adjustment accuracy, cumbersome capping changes, easy cap stacking and falling, and low capping efficiency in existing capping machines, achieving high precision, high efficiency, and high flexibility.
[0008] In some embodiments, the first bottle clamping assembly includes a first mounting frame, a first servo motor, a first turntable, and a first bottle clamping belt. The first mounting frame is disposed on either side of the first conveying assembly, the first turntable is disposed at both ends of the first mounting frame, the first servo motor is drivenly connected to either first turntable, and the first bottle clamping belt is disposed around the outer periphery of the first mounting frame and is drivenly connected to the two first turntables respectively. The second bottle clamping assembly includes a second mounting frame, a second servo motor, a second turntable, and a second bottle clamping belt. The second mounting frame is located on the other side of the first conveying assembly, the second turntable is located at both ends of the second mounting frame, the second servo motor is connected to either of the second turntables, and the second bottle clamping belt is arranged around the outer periphery of the second mounting frame and is connected to both of the second turntables.
[0009] By independently driving the first bottle-clamping belt and the second bottle-clamping belt with the first servo motor and the second servo motor respectively, flexible clamping and active speed control of the bottle are achieved. This allows the bottle-clamping belt to maintain a synchronous or adjustable linear speed with the first conveying component when clamping the bottle, solving the problem of bottle damage or tipping caused by speed mismatch during clamping, and improving the stability of bottle conveying and the accuracy of spacing adjustment.
[0010] In some embodiments, the first conveying assembly is provided with a first adjusting assembly, which includes a first adjusting motor, a first adjusting rod, a third mounting plate, a first adjusting slide rail, a first adjusting slider, and a first connecting block. The first adjusting motor is mounted on the first bottle clamping assembly or the second bottle clamping assembly, and the motor shaft of the first adjusting motor is connected to the first adjusting rod. At least one first adjusting rod is provided and mounted on the first conveying assembly. The first adjusting rod is provided with a first connecting block at the position corresponding to the first bottle clamping assembly and the second bottle clamping assembly, and the first connecting block is screwed to the first adjusting rod. At least one of the third mounting plates is mounted on the first conveying assembly, and the top of each of the third mounting plates is provided with the first adjusting slide rail; The first bottle clamping assembly and the second bottle clamping assembly are each provided with the first adjusting slider at the bottom of the third mounting plate. The first adjusting slider is sleeved on the first adjusting slide rail corresponding to it and slides in cooperation with the first adjusting slide rail. The first adjusting rod includes a first threaded section, a connecting section, and a second threaded section. The connecting section is screwed onto either the first or second threaded section, and the threads of the first and second threaded sections are opposite.
[0011] By setting a first adjusting rod with opposite thread sections, and cooperating with the sliding guide of the first adjusting slide rail and the first adjusting slider, the bottle clamping assemblies on both sides are brought closer or moved away synchronously when the first adjusting motor is driven. This solves the problem of asynchronous adjustment and low centering accuracy on both sides when adjusting the bottle clamping width, and improves the adjustment efficiency and clamping centering accuracy when switching between different bottle diameters.
[0012] In some embodiments, the cap assembly includes a first fixing frame, a second fixing frame, and a cap member; The first fixing bracket is mounted on the second conveying assembly and located near the first clamping assembly. The second fixing bracket is mounted on the second conveying assembly and located near the second clamping assembly. The top of the first fixing bracket and the top of the second fixing member are both equipped with a first connecting rod extending along the width direction of the second conveying assembly. The top of the pressure cap is provided with a second connecting rod corresponding to the position of the first connecting rod. The second connecting rod is inserted into the first connecting rod, and each first connecting rod is provided with a third adjusting screw to fix the depth of the second connecting rod inserted into the first connecting rod, so as to adjust the distance between the bottom of the pressure cap and the conveying plane of the second conveying assembly.
[0013] By setting the first connecting rod, the second connecting rod, and the adjusting screw, the distance between the capping component and the second conveying component can be infinitely adjusted, which solves the problem that bottle caps of different thicknesses need different limit heights, so that the capping component can press against the top of the bottle cap, effectively preventing the bottle caps from stacking or falling off the edge of the conveyor belt during the conveying process.
[0014] In some embodiments, the first clamping cap assembly includes a first mounting plate, a first guide rod, a first adjusting screw, and a first clamping rod; The first mounting plate is disposed on both sides of the second conveying assembly and is located at the inlet end of the second conveying assembly; The first guide rod is mounted on the second conveying assembly, located between the two first mounting plates, with its two ends respectively guiding and engaging with the corresponding first mounting plates; The first adjusting screw is mounted on the second conveying assembly, located between the two first mounting plates, with both ends screwed to their corresponding first mounting plates, and the screwing direction of the first adjusting screw is opposite to that of the two first mounting plates; The first clamping rod is disposed on each of the first mounting plates and extends along the width direction of the second conveying assembly, so as to move with the first mounting plates under the drive of the first adjusting screw to clamp or move away from each other to adjust the space on the second conveying assembly for the bottle cap to pass through. The second clamping cap assembly includes a second mounting plate, a second guide rod, a first clamping part, a second clamping part, a drive motor, a transmission part, and a second adjusting screw; The second mounting plate is disposed on both sides of the second conveying assembly, and is located near the center of the second conveying assembly; The second guide rod is mounted on the second conveying assembly and extends along the width direction of the second conveying assembly. Both ends of the guide rod are respectively guided and engaged with the second mounting plate on the same side of the second conveying assembly. The first clamping part is disposed on the inner side wall of any of the second mounting plates, and the second clamping part is disposed on the inner side wall of the other second mounting plate; The drive motor is mounted on any of the second mounting plates. The motor shaft of the drive motor is connected to the input end of the transmission part. The output end of the transmission part is connected to the first clamping part and the second clamping part respectively. Under the drive of the drive motor, the first clamping part and the second clamping part are driven to move along the conveying direction of the conveyor frame, and the bottle cap is driven to move into the gripping area along the conveying direction of the conveyor frame. The second adjusting screw is mounted on the second conveying assembly, with its two ends screwed to its corresponding second mounting plates respectively, and the screwing directions of the two ends are opposite, so as to drive the two second mounting plates to move the first clamping part and the second clamping part closer to each other or further apart, thereby adjusting the space between the first clamping part and the second clamping part for the bottle cap to pass through.
[0015] By setting the first clamping cap assembly to initially center the incoming bottle cap, and cooperating with the second adjusting screw of the second clamping cap assembly to achieve synchronous centering adjustment of the clamping parts on both sides, the problem of rapid adaptation of different bottle cap sizes is solved; by driving the motor and transmission unit to drive the first clamping part and the second clamping part to move synchronously, the active clamping and conveying of the bottle cap and the spacing control are realized, solving the problem of uncontrollable spacing before the bottle cap enters the clamping section.
[0016] In some embodiments, the first clamping part includes a first fixing plate, a first fixing shaft, a third turntable, and a first clamping belt. The first fixing plate is disposed on the inner side wall of the second mounting plate. At least two first fixing shafts are provided and arranged along the conveying direction of the second conveying assembly. Any one of the first fixing shafts is drivenly connected to the transmission part. The third turntable is rotatably connected to the first fixing shaft and sleeved on the first fixing shaft. The first clamping belt is drivenly connected to the third turntable. The second clamping part includes a second fixing plate, a second fixing shaft, a fourth turntable, and a second clamping belt. The second fixing plate is disposed on the inner side wall of the second mounting plate. At least two second fixing shafts are provided and arranged along the conveying direction of the second conveying assembly. Any one of the second fixing shafts is connected to the transmission part. The fourth turntable is rotatably connected to the second fixing shaft and sleeved on the second fixing shaft. The second clamping belt is connected to the fourth turntable. The transmission unit includes a first rotating component, a second rotating component, and a synchronizing rod. One end of the synchronizing rod is connected to the drive motor. The first rotating component is located on the top of the first fixed plate and the second fixed plate. The synchronizing rod passes through the two first rotating components. Each first rotating component is meshed with a second rotating component. The second rotating component located on the first fixed plate is connected to any of the first fixed shafts. The second rotating component located on the second fixed plate is connected to any of the second fixed shafts.
[0017] By setting a synchronizing rod that passes through two first rotating parts and each first rotating part meshes with a corresponding second rotating part, a single drive motor can simultaneously drive the first clamping part and the second clamping part to move synchronously. This solves the problem of speed synchronization of the clamping belts on both sides, simplifies the transmission structure, and reduces equipment costs. At the same time, the bottle caps are flexibly clamped and transported by the clamping belt, which solves the problem of bottle caps being easily damaged by rigid clamping.
[0018] In some embodiments, the end of the second conveying assembly is provided with a discharge member that is inclined downward from the end near the second conveying assembly to the end away from the second conveying assembly.
[0019] By setting a downward-sloping discharge component at the end of the second conveying assembly, ungrabbed bottle caps can be automatically slid down and recycled along the inclined surface, solving the problem of ungrabbed bottle caps not being effectively collected and causing waste, and reducing bottle cap wear and production costs.
[0020] In some embodiments, the three-coordinate manipulator further includes a first rotary drive, a second rotary drive, a linear drive, and a third rotary drive; the first rotary drive is mounted on a mounting platform, and its output end is driven to a first arm to drive the first arm to rotate around a second direction axis; the second rotary drive is mounted on the first arm, and its output end is driven to a second arm to drive the second arm to rotate around a second direction axis; the linear drive is mounted on the second arm, and its output end is driven to a third arm to drive the third arm to slide along the second direction; the third rotary drive is mounted on the third arm, and its output shaft is driven to a pneumatic gripper to drive the pneumatic gripper to rotate and screw the bottle cap onto the bottle body.
[0021] By setting up a first rotary drive, a second rotary drive, a linear drive, and a third rotary drive to drive the rotation of the first arm and the second arm, the lifting and lowering of the third arm, and the rotation of the pneumatic gripper, the robot arm can achieve precise positioning in the horizontal plane, vertical height adjustment, and independent control of the capping action. This solves the driving problem of multi-degree-of-freedom coordinated action of the robot arm and improves the flexibility and accuracy of gripping and capping.
[0022] In some embodiments, the controller receives bottle cap position information from the detection photoelectric sensor and controls the three-coordinate robot to move between the second cap clamping assembly and the outlet end of the second conveying device to grab the bottle cap. Meanwhile, the controller receives the bottle position information fed back by the bottle conveying device, and controls the three-coordinate robot to follow the bottle and move synchronously along the conveying direction of the first transport component to screw the bottle cap onto the bottle.
[0023] The controller controls the robotic arm to grasp the bottle cap based on the bottle cap position information fed back by the photoelectric sensor. At the same time, based on the bottle position information fed back by the bottle conveying device, the robotic arm completes the capping process while moving synchronously with the bottle. This achieves dynamic tracking and matching between the bottle and the cap, solving the problem of low efficiency caused by the need for the bottle to stop when capping in the existing technology, and improving capping efficiency and production continuity.
[0024] In some embodiments, the controller receives cap parameters and / or bottle body parameters, controls the first cap clamping assembly and the second cap clamping assembly to move closer to or further away from each other, and / or the first bottle clamping assembly and the second bottle clamping assembly to move closer to or further away from each other, as well as the lifting height of the lifting device.
[0025] The controller receives bottle cap parameters and / or bottle body parameters, and synchronously controls the approach or distance between the first and second cap clamping assemblies, the approach or distance between the first and second bottle clamping assemblies, and the lifting height of the lifting device. This enables the simultaneous adjustment of multiple parameters in a single operation, solving the problems of cumbersome operation and low efficiency in existing technologies where multiple parts need to be adjusted separately during model changeover. It achieves intelligent one-click model changeover and improves the flexible production capability of the equipment.
[0026] Based on the above technical solution, the present invention has the following beneficial effects compared with the prior art: By separating and independently setting up the bottle body conveying device and the bottle cap conveying device, and by setting up a first bottle clamping assembly and a second bottle clamping assembly on both sides of the bottle body conveying device that can actively move closer or further apart, and by setting up a first cap clamping assembly and a second cap clamping assembly on both sides of the bottle cap conveying device that can actively move closer or further apart, independent and precise adjustment of the distance between the bottle body and the bottle cap is achieved, solving the problem of mutual restriction and uncontrollable distance between the bottle body and the bottle cap in the prior art; by using the cap pressing assembly to press and limit the bottle cap, the problem of the bottle cap stacking or falling off during the conveying process is effectively prevented, solving the problem of poor stability of the bottle cap conveying; by using a photoelectric sensor to record the position information of the bottle cap in real time and feeding it back to the controller, the robot arm is provided with a precise grasping position basis; and by using a lifting device to drive the three seats The robotic arm is raised and lowered, and the controller, based on the bottle cap position information fed back by the photoelectric sensor, controls the robotic arm to grasp the bottle cap. Simultaneously, based on the bottle position information fed back by the bottle conveying device, the robotic arm completes the capping process while moving synchronously with the bottle. This achieves dynamic tracking capping, solving the problems of low efficiency and the need for bottle pausing required for static capping in existing technologies. It allows the bottle to be capped during continuous conveying, significantly improving capping efficiency. Furthermore, through centralized control, the entire process of bottle conveying, bottle cap conveying, robotic arm grasping, and screwing is coordinated, comprehensively solving the technical problems of low distance adjustment accuracy, cumbersome changeover, easy stacking and falling of bottle caps, and low capping efficiency in existing capping machines. This achieves high precision, high efficiency, and high flexibility. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the bottle conveying device of the present invention; Figure 3 This is an exploded view of the bottle conveying device of the present invention; Figure 4 For the present invention Figure 3 A magnified view of a portion of the image; Figure 5 This is a schematic diagram of the bottle cap conveying device of the present invention; Figure 6 This is an exploded view of the bottle cap conveying device of the present invention; Figure 7 For the present invention Figure 5 Local magnification Figure 1 ; Figure 8 For the present invention Figure 5 Local magnification Figure 2 ; Figure 9 This is a schematic diagram of the structure of the lifting device and the three-coordinate manipulator of the present invention. Figure 10 This is an exploded view of the three-coordinate manipulator of the present invention.
[0028] Explanation of reference numerals in the attached figures: 100. Bottle conveying device; 110. First conveying assembly; 120. First bottle clamping assembly; 121. First mounting frame; 122. First servo motor; 123. First turntable; 124. First bottle clamping belt; 130. Second bottle clamping assembly; 131. Second mounting frame; 132. Second servo motor; 133. Second turntable; 134. Second bottle clamping belt; 140. First adjusting assembly; 141. First adjusting motor; 142. First adjusting rod; 142. First threaded section; 142. Connecting section; 142. Second threaded section; 143. Third mounting plate; 144. First adjusting slide rail; 145. First adjusting slider; 146. First connecting block; 147. First gearbox; 200. Bottle cap conveying device; 210. Second conveying assembly; 211. Discharge component; 220. Capping assembly; 221. First fixing frame; 222. Second fixing frame; 223. Capping component; 224. First connecting rod; 225. Second connecting rod; 226. Third adjusting screw; 230. First cap clamping assembly; 231. First mounting plate; 232. First guide rod; 233. First adjusting screw; 234. First clamping rod; 240. Second cap clamping assembly; 241. Second mounting plate; 242. Second... 243. Guide rod; 2431. First clamping part; 2432. First fixing plate; 2433. First fixing shaft; 2433. Third turntable; 2434. First clamping belt; 244. Second clamping part; 2441. Second fixing plate; 2442. Second fixing shaft; 2443. Fourth turntable; 2444. Second clamping belt; 245. Drive motor; 246. Transmission part; 2461. First rotating component; 2462. Second rotating component; 2463. Synchronizing rod; 247. Second adjusting screw; 250. Detection photoelectric sensor; 300. Lifting device; 310. Installation platform; 320. Lifting motor; 330. Second gearbox; 340. Synchronous transmission rod; 350. Lifting screw; 360. Lifting worm gear; 400. Three-coordinate robotic arm; 410. First arm; 420. Second arm; 430. Third arm; 431. Linear drive component; 440. Pneumatic gripper; 441. Third rotary drive component. Detailed Implementation
[0029] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.
[0030] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.
[0031] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the related listed items.
[0032] It should be noted that in this article, "fixed to" or "connected to" can mean directly fixed to or connected to a component, or indirectly fixed to or connected to a component.
[0033] like Figure 1-10 As shown, the three-coordinate tracking capping machine provided in this embodiment includes: The bottle conveying device 100 has a first conveying component 110 and a first bottle clamping component 120 and a second bottle clamping component 130 disposed on both sides of the first conveying component 110. The first bottle clamping component 120 and the second bottle clamping component 130 move closer to each other or further away from each other along the first direction of the capping machine to clamp the bottle and adjust the spacing between adjacent bottles in the conveying direction of the first conveying component 110. The bottle cap conveying device 200 is independently set up from the bottle body conveying device 100. It has a second conveying component 210, a cap pressing component 220, a first cap clamping component 230, a second cap clamping component 240, and a detection photoelectric sensor 250. The cap pressing component 220 is located above the second conveying component 210 to press and limit the bottle cap. The first cap clamping component 230 and the second cap clamping component 240 are located on both sides of the second conveying component 210 and move closer or further apart along the first direction of the capping machine to clamp the bottle cap and adjust the spacing between adjacent bottle caps in the conveying direction of the second conveying component 210. The detection photoelectric sensor 250 is located in the bottle cap clamping area of the second conveying component 210 to record the position information of the bottle cap and feed it back to the controller of the capping machine. The lifting device 300 has a mounting platform 310, which moves along the second direction of the capping machine toward or away from the bottle conveying device 100 and the cap conveying device 200; A three-coordinate robotic arm 400 is mounted on the mounting platform 310 of the lifting device 300. It has a first arm 410, a second arm 420, a third arm 430, and a pneumatic gripper 440. The first arm 410 is rotatably connected to the mounting platform 310, and its rotation axis is set along the second direction of the capping machine. The second arm 420 is rotatably connected to the first arm 410, and its rotation axis is set along the second direction of the capping machine. The third arm 430 is slidably connected to the second arm 420 along the second direction of the capping machine. The pneumatic gripper 440 is located at the end of the third arm 430 and is used to grip the bottle cap and screw it onto the bottle body. The controller is connected to the bottle conveying device 100, the bottle cap conveying device 200, the lifting device 300, and the three-coordinate robot 400. The controller controls the three-coordinate robot 400 to grasp the bottle cap according to the bottle cap position information fed back by the photoelectric sensor 250. At the same time, the controller controls the three-coordinate robot 400 to screw the bottle cap onto the bottle body while moving synchronously with the bottle body according to the bottle position information fed back by the bottle conveying device 100.
[0034] In some embodiments, the first bottle clamping assembly 120 includes a first mounting frame 121, a first servo motor 122, a first turntable 123, and a first bottle clamping belt 124. The first mounting frame 121 is disposed on either side of the first conveying assembly 110, the first turntable 123 is disposed at both ends of the first mounting frame 121, the first servo motor 122 is drivenly connected to either first turntable 123, and the first bottle clamping belt 124 is disposed around the outer periphery of the first mounting frame 121 and is drivenly connected to the two first turntables 123 respectively. The second bottle clamping assembly 130 includes a second mounting frame 131, a second servo motor 132, a second turntable 133, and a second bottle clamping belt 134. The second mounting frame 131 is located on the other side of the first conveying assembly 110. The second turntable 133 is located at both ends of the second mounting frame 131. The second servo motor 132 is connected to either of the second turntables 133. The second bottle clamping belt 134 is arranged around the outer periphery of the second mounting frame 131 and is connected to both of the second turntables 133.
[0035] The first servo motor 122 and the second servo motor 132 independently drive the first bottle clamping belt 124 and the second bottle clamping belt 134 to move, respectively, realizing flexible clamping and active speed control of the bottle. This allows the bottle clamping belt to maintain a synchronous or adjustable linear speed with the first conveying component 110 when clamping the bottle, solving the problem of bottle damage or bottle tipping caused by speed mismatch during clamping, and improving the stability of bottle conveying and the accuracy of spacing adjustment.
[0036] In some embodiments, the first conveying assembly 110 is provided with a first adjusting assembly 140, which includes a first adjusting motor 141, a first adjusting rod 142, a third mounting plate 143, a first adjusting slide rail 144, a first adjusting slider 145, and a first connecting block 146. The first adjusting motor 141 is mounted on the first bottle clamping assembly 120 or the second bottle clamping assembly 130, and the motor shaft of the first adjusting motor 141 is connected to the first adjusting rod 142. At least one first adjusting rod 142 is provided and mounted on the first conveying assembly 110. The first adjusting rod 142 is provided with a first connecting block 146 at the position corresponding to the first bottle clamping assembly 120 and the second bottle clamping assembly 130, and the first connecting block 146 is screwed to the first adjusting rod 142. At least one of the third mounting plates 143 is mounted on the first conveying assembly 110, and the top of each of the third mounting plates 143 is provided with the first adjusting slide rail 144; The bottom of the first bottle clamping assembly 120 and the second bottle clamping assembly 130 are provided with the first adjusting slider 145 at the position corresponding to the third mounting plate 143. The first adjusting slider 145 is sleeved on the first adjusting slide rail 144 corresponding to it and slides in cooperation with the first adjusting slide rail 144. The first adjusting rod 142 includes a first threaded section 1, a connecting section 1422, and a second threaded section 1423. The connecting section is screwed to the first threaded section 1 or the second threaded section 1423, and the threads of the first threaded section 1 and the second threaded section 1423 are opposite.
[0037] By setting a first adjusting rod 142 with opposite thread sections, and cooperating with the sliding guide of the first adjusting slide rail 144 and the first adjusting slider 145, the bottle clamping assemblies on both sides are synchronously brought closer or moved away when the first adjusting motor 141 is driven. This solves the problem of asynchronous adjustment of the two sides and low centering accuracy when adjusting the bottle clamping width, and improves the adjustment efficiency and clamping centering accuracy when switching between different bottle diameters.
[0038] In some embodiments, the transmission connection between the first adjusting motor 141 and the first adjusting rod 142 is achieved through a first reduction gearbox 147, the output shaft of the first adjusting motor 141 is driven to the input end of the first reduction gearbox 147, and the output end of the first reduction gearbox 147 is driven to the first adjusting rod 142.
[0039] Furthermore, if at least two first adjusting rods 142 are provided, this embodiment preferably uses a gear belt structure to achieve synchronous driving of multiple first adjusting rods 142. Alternatively, other existing driving structures can be used, such as each first adjusting rod 142 being driven by an independent motor.
[0040] In some embodiments, the cap assembly 220 includes a first fixing frame 221, a second fixing frame 222, and a cap member 223; The first fixing frame 221 is disposed on the second conveying assembly 210 and located near the first clamping assembly 230. The second fixing frame 222 is disposed on the second conveying assembly 210 and located near the second clamping assembly 240. The top of the first fixing frame 221 and the top of the second fixing member are both provided with a first connecting rod 224 extending along the width direction of the second conveying assembly 210. The top of the pressure cap 223 is provided with a second connecting rod 225 corresponding to the position of the first connecting rod 224. The second connecting rod 225 is inserted into the first connecting rod 224. Each first connecting rod 224 is provided with a third adjusting screw 226 for fixing the depth of the second connecting rod 225 inserted into the first connecting rod 224, so as to adjust the distance between the bottom of the pressure cap 223 and the conveying plane of the second conveying assembly 210.
[0041] By setting the first connecting rod 224, the second connecting rod 225 and the adjusting screw, the distance between the capping component 223 and the second conveying component 210 is infinitely adjustable, which solves the problem that bottle caps of different thicknesses need different limit heights, so that the capping component 223 can press against the top of the bottle cap, effectively preventing the bottle caps from stacking or falling off the edge of the conveyor belt during the conveying process.
[0042] In some embodiments, the first clamping cap assembly 230 includes a first mounting plate 231, a first guide rod 232, a first adjusting screw 233, and a first clamping rod 234; The first mounting plate 231 is disposed on both sides of the second conveying assembly 210 and is located at the inlet end of the second conveying assembly 210; The first guide rod 232 is mounted on the second conveying assembly 210, located between the two first mounting plates 231, and its two ends are respectively guided and engaged with the corresponding first mounting plates 231; The first adjusting screw 233 is mounted on the second conveying assembly 210, located between the two first mounting plates 231, with both ends screwed to their corresponding first mounting plates 231, and the screwing directions of the first adjusting screw 233 and the two first mounting plates 231 are opposite. The first clamping rod 234 is disposed on each of the first mounting plates 231 and extends along the width direction of the second conveying assembly 210. It is used to move with the first mounting plates 231 under the drive of the first adjusting screw 233 to clamp or move away from each other to adjust the space on the second conveying assembly 210 for the bottle cap to pass through. The second clamping cap assembly 240 includes a second mounting plate 241, a second guide rod 242, a first clamping part 243, a second clamping part 244, a drive motor 245, a transmission part 246, and a second adjusting screw 247. The second mounting plate 241 is disposed on both sides of the second conveying assembly 210, and is located near the center of the second conveying assembly 210; The second guide rod 242 is mounted on the second conveying assembly 210 and extends along the width direction of the second conveying assembly 210. Both ends are respectively guided and engaged with the second mounting plate 241 on the same side. The first clamping part 243 is provided on the inner side wall of any of the second mounting plates 241, and the second clamping part 244 is provided on the inner side wall of the other second mounting plate 241. The drive motor 245 is mounted on any of the second mounting plates 241. The motor shaft of the drive motor 245 is connected to the input end of the transmission part 246. The output end of the transmission part 246 is connected to the first clamping part 243 and the second clamping part 244 respectively. Under the drive of the drive motor 245, the first clamping part 243 and the second clamping part 244 are driven to move along the conveying direction of the conveyor frame, and the bottle cap is driven to move into the gripping area along the conveying direction of the conveyor frame. The second adjusting screw 247 is mounted on the second conveying assembly 210, and its two ends are screwed to the corresponding second mounting plates 241 respectively, with the screwing directions of the two ends being opposite, so as to drive the two second mounting plates 241 to move the first clamping part 243 and the second clamping part 244 closer to each other or further away from each other, thereby adjusting the space between the first clamping part 243 and the second clamping part 244 for the bottle cap to pass through.
[0043] By setting the first cap clamping assembly 230 to initially center the incoming bottle cap, and cooperating with the second adjusting screw 247 of the second cap clamping assembly 240 to achieve synchronous centering adjustment of the clamping parts on both sides, the problem of rapid adaptation of different bottle cap sizes is solved. By driving the first clamping part 243 and the second clamping part 244 to move synchronously through the drive motor 245 and the transmission part 246, the active clamping and conveying of the bottle cap and the spacing control are realized, which solves the problem of uncontrollable spacing before the bottle cap enters the clamping section.
[0044] In some embodiments, the first clamping part 243 includes a first fixing plate 2431, a first fixing shaft 2432, a third turntable 2433, and a first clamping belt 2434. The first fixing plate 2431 is disposed on the inner side wall of the second mounting plate 241. At least two first fixing shafts 2432 are provided and arranged along the conveying direction of the second conveying assembly 210. Any one of the first fixing shafts 2432 is connected to the transmission part 246. The third turntable 2433 is rotatably connected to the first fixing shaft 2432 and sleeved on the first fixing shaft 2432. The first clamping belt 2434 is connected to the third turntable 2433. The second clamping part 244 includes a second fixing plate 2441, a second fixing shaft 2442, a fourth turntable 2443, and a second clamping belt 2444. The second fixing plate 2441 is disposed on the inner side wall of the second mounting plate 241. At least two second fixing shafts 2442 are provided and arranged along the conveying direction of the second conveying assembly 210. Any one of the second fixing shafts 2442 is connected to the transmission part 246. The fourth turntable 2443 is rotatably connected to the second fixing shaft 2442 and sleeved on the second fixing shaft 2442. The second clamping belt 2444 is connected to the fourth turntable 2443. The transmission unit 246 includes a first rotating member 2461, a second rotating member 2462, and a synchronizing rod 2463. One end of the synchronizing rod 2463 is connected to the drive motor 245. The first rotating member 2461 is disposed on the top of the first fixed plate 2431 and the second fixed plate 2441. The synchronizing rod 2463 passes through the two first rotating members 2461. Each first rotating member 2461 is engaged with a second rotating member 2462. The second rotating member 2462 located on the first fixed plate 2431 is connected to any of the first fixed shafts 2432, and the second rotating member 2462 located on the second fixed plate 2441 is connected to any of the second fixed shafts 2442.
[0045] By setting a synchronizing rod 2463 passing through two first rotating parts 2461, and each first rotating part 2461 meshing with a corresponding second rotating part 2462, a single drive motor 245 can simultaneously drive the first clamping part 243 and the second clamping part 244 to move synchronously. This solves the problem of speed synchronization of the clamping belts on both sides, simplifies the transmission structure, and reduces equipment costs. At the same time, the flexible clamping and conveying of bottle caps by the clamping belts solves the problem of bottle caps being easily damaged by rigid clamping.
[0046] In some embodiments, the end of the second conveying assembly 210 is provided with a discharge member 211, which is inclined downward from the end near the second conveying assembly 210 to the end away from the second conveying assembly 210.
[0047] By setting a downwardly inclined discharge part 211 at the end of the second conveying component 210, the ungrabbed bottle caps are automatically slid down and recycled along the inclined surface, which solves the problem of ungrabbed bottle caps not being effectively collected and causing waste, and reduces bottle cap wear and production costs.
[0048] In some embodiments, the three-coordinate manipulator 400 further includes a first rotary drive, a second rotary drive, a linear drive 431, and a third rotary drive 441. The first rotary drive is mounted on the mounting platform 310, and its output end is connected to the first arm 410 to drive the first arm 410 to rotate around a second direction axis. The second rotary drive is mounted on the first arm 410, and its output end is connected to the second arm 420 to drive the second arm 420 to rotate around a second direction axis. The linear drive 431 is mounted on the second arm 420, and its output end is connected to the third arm 430 to drive the third arm 430 to slide along the second direction. The third rotary drive 441 is mounted on the third arm 430, and its output shaft is connected to the pneumatic gripper 440 to drive the pneumatic gripper 440 to rotate and screw the bottle cap onto the bottle body.
[0049] By setting up a first rotary drive, a second rotary drive, a linear drive 431, and a third rotary drive 441, the first arm 410 and the second arm 420 are rotated, the third arm 430 is raised and lowered, and the pneumatic gripper 440 is rotated, respectively. This achieves precise positioning of the robot in the horizontal plane, vertical height adjustment, and independent control of the capping action. It solves the driving problem of multi-degree-of-freedom coordinated action of the robot and improves the flexibility and accuracy of gripping and capping.
[0050] In some embodiments, the controller receives bottle cap position information fed back by the photoelectric sensor 250 and controls the three-coordinate robot 400 to move between the second cap clamping assembly 240 and the outlet end of the second conveying device to grab the bottle cap. Meanwhile, the controller receives the bottle position information fed back by the bottle conveying device 100, and controls the three-coordinate robot 400 to follow the bottle and move synchronously along the conveying direction of the first transport component to screw the bottle cap onto the bottle.
[0051] The controller controls the robotic arm to grasp the bottle cap based on the bottle cap position information fed back by the photoelectric sensor 250. At the same time, based on the bottle position information fed back by the bottle conveying device 100, the robotic arm is controlled to complete the capping while moving synchronously with the bottle. This achieves dynamic tracking and matching between the bottle and the cap, solving the problem of low efficiency caused by the need for the bottle to stop when capping in the existing technology, and improving capping efficiency and production continuity.
[0052] In some embodiments, the controller receives cap parameters and / or bottle body parameters, controls the first cap clamping assembly 230 and the second cap clamping assembly 240 to move closer to or further away from each other, and / or the first bottle clamping assembly 120 and the second bottle clamping assembly 130 to move closer to or further away from each other, as well as the lifting height of the lifting device 300.
[0053] The controller receives bottle cap parameters and / or bottle body parameters, and synchronously controls the approach or distance between the first cap clamping assembly 230 and the second cap clamping assembly 240, the approach or distance between the first bottle clamping assembly 120 and the second bottle clamping assembly 130, and the lifting height of the lifting device 300. This enables the simultaneous adjustment of multiple parameters in a single operation, solving the problems of cumbersome operation and low efficiency that require adjusting multiple parts separately during model changeover in the prior art. It realizes intelligent one-click model changeover and improves the flexible production capability of the equipment.
[0054] In this embodiment, both the first conveying component 110 and the second conveying component 210 adopt a conveying structure that includes a conveying frame, several conveying rollers are mounted on the conveying frame, and a conveyor belt is mounted on the conveying rollers. A servo motor is used as the conveying motor and is connected to at least one conveying roller to drive the conveyor belt to rotate, thereby realizing the conveying structure of the bottle body or bottle cap.
[0055] The position information of the bottle described in this embodiment can be fed back to the controller using the same photoelectric sensor 250 or other existing technology sensors (such as image sensors).
[0056] The lifting device 300 described in this embodiment also includes a lifting motor 320, a second reduction gearbox 330, a synchronous transmission rod 340, and a lifting screw 350. Two opposing lifting screws 350 are provided at the bottom of the mounting platform 310. Each lifting screw 350 is screwed with a lifting worm gear 360, and each lifting worm gear 360 is driven by the synchronous transmission rod 340. Each synchronous transmission rod 340 is driven by the output end of the second reduction gearbox 330, and the input end of the second reduction gearbox 330 is driven by the output shaft of the lifting motor 320. The operation of the lifting motor 320 drives the synchronous transmission rod 340 to rotate, which in turn drives the lifting worm gear 360 to move the lifting screw 350 in the height direction, thereby enabling the three-coordinate robot 400 on the mounting platform 310 to approach or move away from the bottle conveying device 100 and the bottle cap conveying device 200.
[0057] The working principle of the three-coordinate tracking capping machine provided in this embodiment is as follows: First, the first adjusting motor 141 starts, driving the first adjusting rod 142 to rotate. The opposite threads on the first adjusting rod 142 drive the first bottle clamping assembly 120 and the second bottle clamping assembly 130 to move synchronously closer or further apart along the first adjusting slide rail 144, so that the first bottle clamping belt 124 and the second bottle clamping belt 134 clamp the bottle body. The first servo motor 122 and the second servo motor 132 drive the first bottle clamping belt 124 and the second bottle clamping belt 134 to move respectively, so that the bottle clamping belt maintains a synchronous linear speed with the first conveying assembly 110. By actively clamping each bottle body and controlling the clamping timing, the spacing between adjacent bottles in the first conveying direction can be precisely adjusted. Simultaneously, the first adjusting screw 233 rotates, driving the first mounting plates 231 on both sides of the first cap clamping assembly 230 to move closer or further apart, causing the first clamping rod 234 to initially center the incoming bottle cap; then the adjusting screw rotates, adjusting the distance between the capping member 223 and the second conveying assembly 210, so that the bottom of the capping member 223 presses against the top of the bottle cap, preventing the bottle caps from stacking or falling off; the second adjusting screw 247 rotates, driving the second mounting plates 241 on both sides of the second cap clamping assembly 240 to move closer or further apart, so that the first clamping rod 234 initially centers ... A clamping belt 2434 and a second clamping belt 2444 are adapted to the width of the bottle cap. The drive motor 245 drives the first clamping belt 2434 and the second clamping belt 2444 to move synchronously through the transmission part 246 to clamp and center the bottle cap. By controlling the running speed and clamping sequence of the clamping belts, the distance between adjacent bottle caps can be precisely adjusted so that the bottle caps enter the gripping area behind the second cap clamping assembly 240 at a set distance. The detection photoelectric eye 250 detects the position of the bottle caps entering the gripping area in real time and feeds the position information back to the controller. The lifting motor 320 starts, driving the second reduction gearbox 330 to rotate. The second reduction gearbox 330 drives the synchronous transmission rod 340 to rotate. The synchronous transmission rod 340 drives the lifting screw 350 to rise and fall through the lifting worm gear 360, thereby driving the three-coordinate robot arm 400 on the installation platform 310 to rise and fall along the second direction to adapt to different bottle heights. The controller receives bottle cap position information from the photoelectric sensor 250 and controls the three-coordinate robot arm 400 to move to the gripping area to grip the bottle cap. At the same time, the controller receives bottle position information from the bottle conveying device 100 and controls the first rotary drive to drive the first arm 410 to rotate around the second direction axis, the second rotary drive to drive the second arm 420 to rotate around the second direction axis, and the linear drive 431 to drive the third arm 430 to slide along the second direction, so that the robot arm moves synchronously with the bottle along the conveying direction of the second conveying component 210. During the dynamic tracking process, the third rotary drive 441 drives the pneumatic gripper 440 to rotate and screw the bottle cap onto the bottle. Finally, the bottle caps that were not grabbed by the robotic arm continue to move forward with the second conveying assembly 210, and slide down and are recycled via the discharge part 211.
[0058] The three-coordinate tracking capping machine provided in this embodiment, compared with the prior art, separates and independently sets up the bottle body conveying device 100 and the bottle cap conveying device 200, and sets up a first bottle clamping assembly 120 and a second bottle clamping assembly 130 on both sides of the bottle body conveying device 100, which can actively move closer or further away; and sets up a first cap clamping assembly 230 and a second cap clamping assembly 240 on both sides of the bottle cap conveying device 200, which can actively move closer or further away. This achieves independent and precise adjustment of the distance between the bottle body and the bottle cap, solving the problem of mutual restriction and uncontrollable distance between the bottle body and the bottle cap in the prior art; by using the capping assembly 220 to press and limit the bottle cap, it effectively prevents the bottle cap from stacking or falling during the conveying process, solving the problem of poor stability of the bottle cap conveying; and by using the photoelectric sensor 250 to record the position information of the bottle cap in real time and feed it back to the controller, it provides a basis for the robotic arm to lift. It provides precise gripping position information; the lifting device 300 drives the three-coordinate robot 400 to rise and fall, and the controller controls the robot to grip the bottle cap based on the bottle cap position information fed back by the photoelectric sensor 250. At the same time, based on the bottle position information fed back by the bottle body conveying device 100, the robot completes the capping while moving synchronously with the bottle, realizing dynamic tracking capping. This solves the problem of low efficiency caused by the need for the bottle to stop in the static capping process in the existing technology, allowing the bottle to be capped during continuous conveying, which significantly improves the capping efficiency. At the same time, through the centralized control of the controller, the entire process of bottle body conveying, bottle cap conveying, robot gripping and twisting is coordinated, which solves the technical problems of low distance adjustment accuracy, cumbersome changeover, easy stacking and falling of bottle caps, and low capping efficiency of the existing capping machine, achieving high precision, high efficiency and high flexibility.
[0059] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.
Claims
1. A three-coordinate tracking capping machine, characterized in that, include: The bottle conveying device (100) has a first conveying assembly (110) and a first bottle clamping assembly (120) and a second bottle clamping assembly (130) disposed on both sides of the first conveying assembly (110). The first bottle clamping assembly (120) and the second bottle clamping assembly (130) move toward each other or away from each other along the first direction of the capping machine to clamp the bottle and adjust the spacing between adjacent bottles in the conveying direction of the first conveying assembly (110). The bottle cap conveying device (200) is independently set up from the bottle body conveying device (100) and has a second conveying component (210), a cap pressing component (220), a first cap clamping component (230), a second cap clamping component (240), and a detection photoelectric sensor (250). The cap pressing component (220) is located above the second conveying component (210) to press and limit the bottle cap. The first cap clamping component (230) and the second cap clamping component (240) are located on both sides of the second conveying component (210) and move closer or further apart along the first direction of the capping machine to clamp the bottle cap and adjust the spacing between adjacent bottle caps in the conveying direction of the second conveying component (210). The detection photoelectric sensor (250) is located in the bottle cap clamping area of the second conveying component (210) to record the position information of the bottle cap and feed it back to the controller of the capping machine. The lifting device (300) has a mounting platform (310) that moves toward or away from the bottle conveying device (100) and the cap conveying device (200) in a second direction of the capping machine. A three-coordinate manipulator (400) is mounted on the mounting platform (310) of the lifting device (300). It has a first arm (410), a second arm (420), a third arm (430), and a pneumatic gripper (440). The first arm (410) is rotatably connected to the mounting platform (310), and its rotation axis is set along the second direction of the capping machine. The second arm (420) is rotatably connected to the first arm (410), and its rotation axis is set along the second direction of the capping machine. The third arm (430) is slidably connected to the second arm (420) along the second direction of the capping machine. The pneumatic gripper (440) is located at the end of the third arm (430) and is used to grip the bottle cap and screw it onto the bottle body. The controller is connected to the bottle conveying device (100), the cap conveying device (200), the lifting device (300), and the three-coordinate robot (400). The controller controls the three-coordinate robot (400) to grab the cap according to the cap position information fed back by the photoelectric sensor (250), and controls the three-coordinate robot (400) to screw the cap onto the bottle body while moving synchronously with the bottle body according to the bottle position information fed back by the bottle conveying device (100).
2. The three-coordinate tracking capping machine as described in claim 1, characterized in that, The first bottle clamping assembly (120) includes a first mounting frame (121), a first servo motor (122), a first turntable (123), and a first bottle clamping belt (124). The first mounting frame (121) is located on either side of the first conveying assembly (110), the first turntable (123) is located at both ends of the first mounting frame (121), the first servo motor (122) is connected to either first turntable (123) in a transmission connection, and the first bottle clamping belt (124) is arranged around the outer periphery of the first mounting frame (121) and is connected to the two first turntables (123) in a transmission connection respectively. The second bottle clamping assembly (130) includes a second mounting frame (131), a second servo motor (132), a second turntable (133), and a second bottle clamping belt (134). The second mounting frame (131) is located on the other side of the first conveying assembly (110). The second turntable (133) is located at both ends of the second mounting frame (131). The second servo motor (132) is connected to either of the second turntables (133) in a driving connection. The second bottle clamping belt (134) is arranged around the outer periphery of the second mounting frame (131) and is connected to both of the second turntables (133) in a driving connection.
3. The three-coordinate tracking capping machine as described in claim 2, characterized in that, The first conveying assembly (110) is provided with a first adjusting assembly (140), which includes a first adjusting motor (141), a first adjusting rod (142), a third mounting plate (143), a first adjusting slide rail (144), a first adjusting slider (145), and a first connecting block (146). The first adjusting motor (141) is mounted on the first bottle clamping assembly (120) or the second bottle clamping assembly (130), and the motor shaft of the first adjusting motor (141) is connected to the first adjusting rod (142). At least one first adjusting rod (142) is provided, which is mounted on the first conveying assembly (110). The first adjusting rod (142) is provided with a first connecting block (146) at the position corresponding to the first bottle clamping assembly (120) and the second bottle clamping assembly (130), which is connected to the first bottle clamping assembly (120) and the second bottle clamping assembly (130). The first connecting block (146) is screwed to the first adjusting rod (142). At least one of the third mounting plates (143) is mounted on the first conveying assembly (110), and the top of each of the third mounting plates (143) is provided with the first adjusting slide rail (144). The first bottle clamping assembly (120) and the second bottle clamping assembly (130) are each provided with the first adjusting slider (145) at the position corresponding to the third mounting plate (143). The first adjusting slider (145) is sleeved on the first adjusting slide rail (144) corresponding to it and slides in cooperation with the first adjusting slide rail (144). The first adjusting rod (142) includes a first threaded section (1), a connecting section (1422), and a second threaded section (1423). The connecting section is screwed to the first threaded section (1) or the second threaded section (1423), and the threads of the first threaded section (1) and the second threaded section (1423) are opposite.
4. The three-coordinate tracking capping machine as described in any one of claims 1-3, characterized in that, The pressure cap assembly (220) includes a first fixing frame (221), a second fixing frame (222), and a pressure cap (223); The first fixing frame (221) is mounted on the second conveying assembly (210) and located near the first clamping assembly (230). The second fixing frame (222) is mounted on the second conveying assembly (210) and located near the second clamping assembly (240). The top of the first fixing frame (221) and the top of the second fixing member are both provided with a first connecting rod (224) extending along the width direction of the second conveying assembly (210). The top of the cover (223) is provided with a second connecting rod (225) corresponding to the position of the first connecting rod (224). The second connecting rod (225) is inserted into the first connecting rod (224). Each first connecting rod (224) is provided with a third adjusting screw (226) to fix the depth of the second connecting rod (225) inserted into the first connecting rod (224), so as to adjust the distance between the bottom of the cover (223) and the conveying plane of the second conveying assembly (210).
5. The three-coordinate tracking capping machine as described in claim 4, characterized in that, The first clamping cap assembly (230) includes a first mounting plate (231), a first guide rod (232), a first adjusting screw (233), and a first clamping rod (234); The first mounting plate (231) is disposed on both sides of the second conveying assembly (210) and is located at the inlet end of the second conveying assembly (210); The first guide rod (232) is mounted on the second conveying assembly (210) and located between the two first mounting plates (231), with its two ends respectively guiding and cooperating with the corresponding first mounting plates (231); The first adjusting screw (233) is mounted on the second conveying assembly (210) and located between the two first mounting plates (231). Both ends are screwed to their corresponding first mounting plates (231), and the screwing direction of the first adjusting screw (233) is opposite to that of the two first mounting plates (231). The first clamping rod (234) is provided on each of the first mounting plates (231) and extends along the width direction of the second conveying assembly (210) to move with the first mounting plates (231) under the drive of the first adjusting screw (233) to clamp or move away from each other to adjust the space on the second conveying assembly (210) for the bottle cap to pass through. The second clamping cap assembly (240) includes a second mounting plate (241), a second guide rod (242), a first clamping part (243), a second clamping part (244), a drive motor (245), a transmission part (246), and a second adjusting screw (247). The second mounting plate (241) is disposed on both sides of the second conveying assembly (210) and is located near the center of the second conveying assembly (210); The second guide rod (242) is mounted on the second conveying assembly (210) and extends along the width direction of the second conveying assembly (210). Both ends are guided and engaged with the second mounting plate (241) on the same side of the second conveying assembly (210). The first clamping part (243) is provided on the inner side wall of any of the second mounting plates (241), and the second clamping part (244) is provided on the inner side wall of the other second mounting plate (241); The drive motor (245) is mounted on any of the second mounting plates (241). The motor shaft of the drive motor (245) is connected to the input end of the transmission part (246). The output end of the transmission part (246) is connected to the first clamping part (243) and the second clamping part (244) respectively, so that the first clamping part (243) and the second clamping part (244) move along the conveying direction of the conveyor frame under the drive of the drive motor (245), and drive the bottle cap to move into the gripping area along the conveying direction of the conveyor frame. The second adjusting screw (247) is mounted on the second conveying assembly (210), and its two ends are screwed to the corresponding second mounting plates (241) respectively, with the screwing directions of the two ends being opposite, so as to drive the two second mounting plates (241) to move the first clamping part (243) and the second clamping part (244) closer to each other or further away from each other, thereby adjusting the space between the first clamping part (243) and the second clamping part (244) for the bottle cap to pass through.
6. The three-coordinate tracking capping machine as described in claim 5, characterized in that, The first clamping part (243) includes a first fixing plate (2431), a first fixing shaft (2432), a third turntable (2433), and a first clamping belt (2434). The first fixing plate (2431) is disposed on the inner side wall of the second mounting plate (241). At least two first fixing shafts (2432) are provided and arranged along the conveying direction of the second conveying assembly (210). Any one of the first fixing shafts (2432) is connected to the transmission part (246). The third turntable (2433) is rotatably connected to the first fixing shaft (2432) and sleeved on the first fixing shaft (2432). The first clamping belt (2434) is connected to the third turntable (2433). The second clamping part (244) includes a second fixing plate (2441), a second fixing shaft (2442), a fourth turntable (2443), and a second clamping belt (2444). The second fixing plate (2441) is disposed on the inner side wall of the second mounting plate (241). At least two second fixing shafts (2442) are provided and arranged along the conveying direction of the second conveying assembly (210). Any second fixing shaft (2442) is connected to the transmission part (246). The fourth turntable (2443) is rotatably connected to the second fixing shaft (2442) and sleeved on the second fixing shaft (2442). The second clamping belt (2444) is connected to the fourth turntable (2443). The transmission unit (246) includes a first rotating member (2461), a second rotating member (2462), and a synchronizing rod (2463). One end of the synchronizing rod (2463) is connected to the drive motor (245). The first rotating member (2461) is located on the top of the first fixed plate (2431) and the second fixed plate (2441). The synchronizing rod (2463) passes through the two first rotating members (2461). Each first rotating member (2461) is engaged with the second rotating member (2462). The second rotating member (2462) located on the first fixed plate (2431) is connected to any of the first fixed shafts (2432). The second rotating member (2462) located on the second fixed plate (2441) is connected to any of the second fixed shafts (2442).
7. The three-coordinate tracking capping machine as described in claim 4, characterized in that, The second conveying component (210) has a discharge component (211) at its end, which is inclined downward from the end near the second conveying component (210) to the end away from the second conveying component (210).
8. The three-coordinate tracking capping machine as described in any one of claims 1-3, characterized in that, The three-coordinate manipulator (400) further includes a first rotary drive, a second rotary drive, a linear drive (431), and a third rotary drive (441). The first rotary drive is mounted on the mounting platform (310), and its output end is connected to the first arm (410) to drive the first arm (410) to rotate around the second direction axis. The second rotary drive is mounted on the first arm (410), and its output end is connected to the second arm (420) to drive the second arm (420) to rotate around the second direction axis. The linear drive (431) is mounted on the second arm (420), and its output end is connected to the third arm (430) to drive the third arm (430) to slide along the second direction. The third rotary drive (441) is mounted on the third arm (430), and its output shaft is connected to the pneumatic gripper (440) to drive the pneumatic gripper (440) to rotate and screw the bottle cap onto the bottle body.
9. The three-coordinate tracking capping machine as described in any one of claims 1-3, characterized in that, The controller receives the bottle cap position information fed back by the photoelectric sensor (250) and controls the three-coordinate robot (400) to move between the second cap clamping assembly (240) and the outlet end of the second conveying device to grab the bottle cap; Meanwhile, the controller receives the bottle position information fed back by the bottle conveying device (100) and controls the three-coordinate robot (400) to follow the bottle and move synchronously along the conveying direction of the first transport component to screw the bottle cap onto the bottle.
10. The three-coordinate tracking capping machine as described in claim 9, characterized in that, The controller receives bottle cap parameters and / or bottle body parameters, controls the first cap clamping assembly (230) and the second cap clamping assembly (240) to move closer to each other or further away from each other, and / or the first bottle clamping assembly (120) and the second bottle clamping assembly (130) to move closer to each other or further away from each other, and the lifting height of the lifting device (300).